| 课程内容简介 (无) | | 课程内容简介（英文） rief Introduction of the Course:This is an graduate level course intended to introduce students to Robotics. The course covers major fundamental aspects of robotics, including spatial motion of rigid bodies, kinematics and instantaneous kinematics, motion planning, statics and dynamics, control of robotic systems, robotic vision, nonholonomic systems, etc. In addition, introductory lectures on sensing and actuation technologies and advanced robotics topics will also be given in class.By the end of this course, students should be able to independently present a comprehensive analysis for an existing robotic system, including the geometry, kinematics, differential kinematics, dynamics, control and motion planning. This course prepares graduate students for their future pursuit in robotics and many other related disciplines. | | 教学大纲 Teaching Contents and Syllabus：Introduction to roboticsTranslations and rotations: 2D/3D rotations, rotation with respect to different frames, composition of rotationsParameterization of rigid body motion: direction cosines, axis-angle, Rodriguez formula, Euler angles, homogeneous transformationSerial robots and parallel robotsKinematic chain and DH parametersWorkspaceDirect kinematics and inverse kinematicsDifferential kinematics / JacobianSingularity and Manipulability: Kinematic condition indexStatics and energy methodMotion planning: resolved rates & potential fields, telemanipulation, kinematic redundancy and obstacle avoidanceVision in roboticsNonholonomic mobile robotsSensors and actuatorsRigid body dynamics: acceleration, inertia tensors, transformations of inertia, kinetic and potential energy, Lagrange’s equations, Newton-Euler formulationRobot control: feedback control, joint space control and task space control, centralized control and distributed control | | 课程进度计划 (无) | | 课程考核要求 Letter grades / points grades | 参 考 文 献
- 参考文献：Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modeling, Planning and Control, Springer; 1st ed, Dec 2008Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling and Control, Johns Wiley & Sons, 2005John J. Craig, Introduction to Robotics: Mechanics and Control, Prentice Hall; 3rd ed, Aug 2004
|
|
优惠券领取后72小时内有效，10万种最新考研考试考证类电子打印资料任你选。涵盖全国500余所院校考研专业课、200多种职业资格考试、1100多种经典教材，产品类型包含电子书、题库、全套资料以及视频，无论您是考研复习、考证刷题，还是考前冲刺等，不同类型的产品可满足您学习上的不同需求。 ...考试优惠券 本站小编 Free壹佰分学习网 2022-09-19